Packaging Machine

Abstract

To provide a packaging machine capable of realizing downsizing and manpower saving in a packaging pack production process.SOLUTION: A packaging machine comprises an imaging unit 311 for capturing a punched packaging pack BP1 by a punching device 173, and a controller 90. The controller 90 comprises: a deviation amount calculation section for calculating a deviation amount of a punched position from a position of a pack film F4 to be punched based on an image of the packaging pack of the packaging pack BP1 captured with the imaging unit 311; a punched position correction amount calculation section for calculating a punch position correction amount on a punched position of the pack film F4 from the deviation amount of the punched position; a slit position controller for adjusting a rotation angle of a film feeding roller 2811 based on the punched position correction amount; and a film guide position controller for adjusting a position of a film guide 2831 based on the punched position correction amount.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a packaging machine. [Background technology]

[0002] A PTP packaging machine has been proposed (see, for example, Patent Document 1) that fills a strip-shaped container film with a pocket with contents, attaches a cover film with a printed section to the container film so as to cover the pocket, and then punches out the PTP film to produce a PTP sheet that is rectangular in plan view. The PTP packaging machine described in Patent Document 1 detects the amount of positional deviation from the ideal position of the pocket and the amount of positional deviation from the ideal position of the printed section for the punched PTP sheet, and corrects the punching position of the PTP film based on both of the detected two types of positional deviation. The PTP packaging machine then corrects the punching position in the extension direction of the PTP film by changing the rotation angle per drive of the film feed roller to adjust the amount of PTP film fed out. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2015-157648 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the punching position of the PTP film may be shifted not only in the extension direction of the PTP film but also in the width direction. In response to this, the PTP packaging machine described in Patent Document 1 corrects the punching position by moving the entire sheet punching device that punches the PTP film in the width direction of the PTP film. However, in this case, a separate drive mechanism is required to move the entire sheet punching device, which may increase the size of the PTP packaging machine. In addition, there is a demand for labor saving in the process of producing packaging packs by inspecting the punched PTP packs using an imaging device.

[0005] The present invention has been made in consideration of the above-mentioned circumstances, and has an object to provide a packaging machine that can be made compact and requires less manpower in the process of producing packaging packs. [Means for solving the problem]

[0006] In order to achieve the above object, the packaging machine according to the present invention comprises: A packaging machine for manufacturing a packaging pack by punching a strip-shaped pack film formed by a container film having a pocket for accommodating a workpiece and a cover film attached to the container film so as to close the pocket, the packaging machine comprising: a first conveying section that has a film feed roller around which the pack film is wound, and that intermittently rotates the film feed roller by a preset rotation angle to intermittently feed out the pack film by a preset first reference distance; a punching device that punches out the pack film when the pack film intermittently conveyed by the first conveying section stops; a first film position changing unit that is disposed downstream of the first conveying unit and has a guide unit that guides the pack film, and changes a position of the guide unit in the width direction of the pack film to change a position of the pack film in the width direction in the punching device; a first imaging unit that images the packaging pack punched by the punching device; a positional deviation amount calculation unit that calculates a positional deviation amount of a punching position of the pack film by the punching device based on a packaging pack image of the packaging pack captured by the first imaging unit; a punching position correction amount calculation unit that calculates a punching position correction amount for the punching position based on the positional deviation amount of the punching position; a rotation angle adjustment unit that adjusts the rotation angle based on the punching position correction amount; a guide position adjustment unit that adjusts the position of the guide unit based on the punching position correction amount. picture, The first film position changing unit is a film guide for guiding the pack film, the film guide comprising: a guide body disposed opposite one surface side of the pack film in the thickness direction, the guide body having a groove formed on the surface facing the pack film for guiding the pocket of the pack film; and an auxiliary plate disposed opposite the other surface side of the pack film in the thickness direction; a guide drive unit that drives the film guide along the width direction of the pack film, The groove extends along the transport direction from one end to the other end of the guide body in the transport direction of the pack film. do. Effect of the Invention

[0007] According to the present invention, the first film position changing unit has a guide unit that guides the pack film, and changes the position of the guide unit in the width direction of the pack film in the punching device to change the position of the guide unit in the width direction of the pack film. The punching position correction amount calculation unit calculates the punching position correction amount for the punching position of the pack film from the positional deviation amount of the punching position, and the guide unit position adjustment unit adjusts the position of the guide unit based on the punching position correction amount. This makes it possible to correct the punching position in the width direction of the pack film without providing a drive mechanism for moving the entire punching device in the width direction of the pack film. Therefore, the packaging machine can be made smaller because there is no need to provide a drive mechanism for moving the entire punching device in the width direction of the pack film. In addition, since the first imaging unit images the packaging pack punched by the punching device, it is possible to automate the inspection of the packaging pack using the image of the packaging pack imaged by the first imaging unit. Therefore, it is possible to reduce the number of people in the process of producing packaging packs. [Brief description of the drawings]

[0008] [Figure 1] 1 is a schematic front view of a packaging machine according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a schematic configuration diagram of a heating device and a molding device according to the embodiment. [Figure 3A] 13 is a diagram showing a state in which a container film is clamped by a fixed chuck in the embodiment. FIG. [Figure 3B] 13A and 13B are diagrams showing a state in which a container film is clamped by a chuck feed in the embodiment. [Figure 3C] 11A and 11B are diagrams showing a state in which a container film is transported by a chuck feed in the embodiment. [Figure 4] 1 is a schematic configuration diagram of a slit forming device, a printing device, and a punching device according to an embodiment. [Figure 5A] FIG. 2 is an enlarged view of a portion of the slit forming device according to the embodiment. [Figure 5B] 5A to 5C are explanatory diagrams illustrating the operation of the slit forming device according to the embodiment. [Figure 6] FIG. 2 is a schematic configuration diagram of a transport unit according to the embodiment. [Figure 7A] 6A to 6C are diagrams illustrating the operation of a first film position changing unit in the embodiment. [Figure 7B] 13 is an explanatory view of the operation of the first film position changing section in the embodiment when viewed from another direction. FIG. [Figure 8] FIG. 2 is a block diagram of a control unit according to the embodiment. [Figure 9] 5A to 5C are diagrams illustrating the operation of the packaging machine according to the embodiment. [Figure 10] 5A to 5C are diagrams illustrating the operation of the packaging machine according to the embodiment. [Figure 11] 10 is a flowchart showing an example of the flow of a position correction process executed by a control unit according to the embodiment. [Figure 12] 10 is a flowchart showing an example of the flow of a position correction process executed by a control unit according to the embodiment. [Figure 13] 13A to 13C are explanatory diagrams illustrating the operation of a packaging machine according to a modified example. [Figure 14] 13A to 13C are explanatory diagrams illustrating the operation of a packaging machine according to a modified example. [Figure 15A] FIG. 11 is a schematic configuration diagram showing a part of a packaging machine according to a modified example. [Figure 15B] 13A to 13C are explanatory diagrams illustrating the operation of a film position changing unit according to a modified example. [Figure 16A] FIG. 11 is a plan view showing an example of a cover film according to a modified example. [Figure 16B] 13A to 13C are explanatory diagrams illustrating the operation of a packaging machine according to a modified example. [Figure 17A] FIG. 13 is a side view of a chuck unit according to a modified example. [Figure 17B] FIG. 13 is a plan view of a chuck unit according to a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] A packaging machine according to an embodiment of the present invention will be described below with reference to the drawings. The packaging machine according to the present embodiment is for manufacturing packaging packs such as blister packs and PTP packs. Here, the packaging pack has a container film in which a pocket for accommodating a workpiece is formed, and a cover film attached to the container film so as to cover the pocket. Here, examples of the workpiece include tubular containers, tablets, food, electronic parts, medical devices, etc.

[0010] 1, the packaging machine 1 according to the present embodiment includes a raw film supply unit 11, a heating device 29, a forming device 12, appearance inspection devices 13, 16, 31, a cover film supply unit 15, a sealing device 14, a slit forming and punching unit 17, and a rotary suction 32. Here, the sealing device 14 has a conveying section 141 that continuously conveys the container film F2, the cover film F3, and the packing film F4 downstream. The packaging machine 1 also includes a chuck feed 232 that conveys the raw film F1 and the container film F2, a fixed chuck 231, a guide roller 251 that guides the packing film F4, and a conveying section 281 that intermittently conveys the packing film F4 downstream. The packaging machine 1 further includes a sliding guide 293 that regulates misalignment of the container film F2 in its width direction, a tension applying unit 291 that applies tension to the container film F2, a tension adjusting unit 292, and a tension applying unit 252 that applies tension to the packing film F4. The packaging machine 1 also includes a film position changing unit 26 that corrects misalignment of the packing film F4 in the slit forming device 171 of the slit forming and punching unit 17 described below, a printing device 27 that prints a mark on the packing film F4, and a recovery unit (not shown) that recovers scraps discharged from the slit forming and punching unit 17. Here, the recovery unit has a mechanism for cutting the packing film F4 after the packaging packs BP have been punched into strips and recovering them. Furthermore, the packaging machine 1 is equipped with a recovery unit 34 that recovers so-called defective packaging packs, such as packaging packs of poor shape or packaging packs in which no work is packaged, discharged from the rotary suction 32, and a pack transporting device 33 having a belt conveyor 331 that receives the packaging packs from the rotary suction 32 and transports them to other devices.

[0011] The packaging machine 1 also includes a stage 40 that supports the container film F2 in a state in which the work can be supplied to the pocket of the container film F2, and a work supplying device 289 that supplies the work input into the hopper 288 to the pocket of the container film F2. Here, the work supplying device 289 inputs the work into each pocket of the container film F2 with the container film F2 placed above the stage 40. Note that the work supplying device 289 may be omitted. In this case, the operator who performs the task of supplying the work to the pocket of the container film F2 may input the work one by one into each pocket with the container film F2 placed above the stage 40.

[0012] The packaging machine 1 further includes rollers 241, 242, and 253 that guide the pack film F4 discharged from the sealing device 14, and a control device 90 that controls each device of the packaging machine 1. In Fig. 1, the control device 90 is drawn on the outside of the packaging machine main body 50 for clarity of the drawing, but in reality, it is installed on the back side of the packaging machine main body 50. The packaging machine 1 also includes the packaging machine main body 50 that houses the raw material film supply unit 11, the forming device 12, the appearance inspection devices 13, 16, and 31, the cover film supply unit 15, the sealing device 14, the slit forming and punching unit 17, etc.

[0013] In this packaging machine 1, as shown by the arrow AR1, the raw material film F1 supplied from the raw material film supply unit 11 is conveyed to the heating device 29 and the forming device 12 by the chuck feed 232. Then, as shown by the arrow AR2, the container film F2 generated from the raw material film F1 in the forming device 12 is conveyed to the appearance inspection device 13 and the sealing device 14 by the conveying section 141 of the sealing device 14 through the upper part of the stage 40. Meanwhile, as shown by the arrow AR3, the cover film F3 supplied from the cover film supply unit 15 is conveyed to the sealing device 14 by the conveying section 141 of the sealing device 14. Then, the sealing device 14 attaches the cover film F3 to the container film F2 to generate a pack film F4. Also, as shown by the arrow AR4, the pack film F4 generated by the sealing device 14 is conveyed downstream by the conveying section 141. Meanwhile, as shown by the arrow AR5, the pack film F4 conveyed downstream of the sealing device 14 is intermittently conveyed to the slit forming and punching unit 17 by the conveying section 281. Then, the scrap F5 discharged from the slit forming and punching unit 17 is transported to a recovery unit.

[0014] The raw film supplying unit 11 supplies a strip-shaped raw film F1 that is the source of the container film F2. The raw film supplying unit 11 has reels 111 and 112 around which the raw film F1 is wound, and an automatic film bonding device 113. The raw film supplying unit 11 also has rollers 1151, 1152, and 1153 that guide the raw film F1 supplied from the reels 111 and 112 to the automatic film bonding device 113, and holding mechanisms 1141 and 1142 that hold the raw film F1. The holding mechanisms 1141 and 1142 each have chucks 1141a and 1142a that hold the leading end of the raw film F1 supplied from the reels 111 and 112 that is not sent to the forming device 12 and is kept waiting. Furthermore, the raw film supply unit 11 has a conveying section 1154 that conveys the raw film F1, a film holding mechanism 116, a buffer section 117 for continuing to supply the raw film F1 downstream while the supply of the raw film F1 from the automatic film bonding device 113 is stopped, and a roller 1155 that guides the raw film F1 supplied from the buffer section 117 to the heating device 29. The conveying section 1154 has a roller 1154a and a roller driving section 1154b that drives the roller 1154a. Examples of the raw film F1 include so-called soft films, i.e., plastic films such as polyvinyl chloride films having a thickness of less than 0.1 mm, so-called hard films, i.e., plastic films such as polyvinyl chloride films having a thickness of more than 0.1 mm, metal films such as aluminum films, and composite films such as gas barrier films.

[0015] When the automatic film bonding device 113 detects that the raw material film F1 supplied from one of the reels 111, 112 has run out, it bonds the leading end of the raw material film F1 supplied from the other reel to the trailing end of the raw material film F1 supplied from the other reel. The automatic film bonding device 113 stops supplying the raw material film F1 downstream for the period during which it is performing the process of bonding the raw material film F1 supplied from the other reel to the raw material film F1 supplied from one of the reels 111, 112.

[0016] The film pressing mechanism 116 includes a roller 1161 that contacts the raw material film F1 from above in the vertical direction, a roller 1163, and a long arm 1162, one end of which in the longitudinal direction is pivoted on a shaft (not shown) that passes through the center of the roller 1161, and the other end of which has the roller 1163 rotatably attached. The other end of the arm 1162 is rotatable around the one end. The buffer unit 117 applies tension to the raw material film F1 by contacting the portion between the rollers 1154a and 1155 of the raw material film F1 stretched between the rollers 1154a and 1155 from above in the vertical direction and pressing it vertically downward. The tension applying unit 117 includes a roller 1171 that contacts the raw material film F1 from above in the vertical direction, and a long arm 1172, one end of which has the roller 1171 attached to it. The buffer unit 117 has a support 1173 at the other end in the longitudinal direction of the arm 1172, which supports the arm 1172 such that one end of the arm 1172 can freely rotate around the other end. The film pressing mechanism 116 has a biasing means (not shown) that biases the other end of the arm 1162 in a direction to press the other end of the arm 1162 against the roller 1154a, and the roller 1163 attached to the other end of the arm 1162 presses the raw material film F1 against the roller 1154a. During the period when the supply of raw material film F1 from the automatic film bonding device 113 is stopped, the buffer unit 117 continues to supply raw material film F1 downstream by rotating one end of the arm 1162 in a direction approaching the automatic film bonding device 113.

[0017] As shown in FIG. 2, the heating device 29 includes heat transfer plates 2901 and 2902, which are disposed on both sides of the raw film F1 in the thickness direction and have built-in heaters (not shown), and drive units 2903 and 2904 that support the heat transfer plates 2901 and 2902 and drive the heat transfer plates 2901 and 2902 in the vertical direction. The heat transfer plates 2901 and 2902 are formed of, for example, a metal with high thermal conductivity. The forming device 12 produces a belt-shaped container film F2 by forming pockets Po1 in the raw film F1. The forming device 12 includes a first mold 123 disposed vertically above the raw film F1 and a second mold 122 disposed vertically below the raw film F1. The second mold 122 includes a plug 122a having an outer shape slightly smaller than the inner shape of the pocket Po1 to be formed in the raw film F1, and an outlet hole (not shown) for discharging gas. Here, the plug 122a is disposed inside the discharge hole and can protrude to the outside of the discharge hole. The plug 122a also has a built-in heater (not shown) for suppressing a drop in temperature of the raw film F1. The plug 122a may not have a built-in heater. Meanwhile, the first mold 123 has a recess 123a that corresponds to the outer shape of the pocket Po1 to be formed in the raw film F1. The molding device 12 also has a drive unit 124 that drives the first mold 123 in the vertical direction, a drive unit 125 that drives the plug 122a in the vertical direction, a gas supply unit (not shown) that supplies gas, and a device body 121 that supports the drive units 124, 125 and the gas supply unit. The gas supply unit is connected to, for example, a compressor (not shown) provided in the factory where the molding device 12 is installed, and supplies gas to the discharge hole of the second mold 122. The first mold 123 and the second mold 122 may be appropriately changed depending on the depth and the area of ​​the opening of the pocket Po1 of the container film F2 to be produced.

[0018] With the raw film F1 placed in the molding device 12, the molding device 12 moves the first die 123 vertically downward to press the raw film F1 against the second die 122 with the first die 123. As a result, the outer periphery of the pocket Po1 in the raw film F1 is clamped between the first die 123 and the second die 122. Then, the molding device 12 stretches the raw film F1 by protruding the plug 122a of the first die 123 vertically upward by a protrusion amount according to the depth of the pocket Po1 to be molded. The protrusion amount of the plug at this time may be appropriately adjusted according to the thickness distribution required for the pocket Po1 to be generated. Then, with the plug 122a protruding vertically upward, the molding device 12 discharges gas from the discharge hole to generate the container film F2 having the pocket Po1.

[0019] 3A, the fixed chuck 231 has a support portion 231a that supports the container film F2 from below in the vertical direction, a clamping portion 231b that clamps the container film F2 together with the support portion 231a from above the container film F2 in the vertical direction, and a drive portion 231c that drives the clamping portion 231b in the vertical direction. The chuck feed 232 is a second conveying portion that has a chuck 2321 that clamps the container film F2 and a chuck moving mechanism 2322 that moves the chuck 2321 along the feed direction of the container film F2. The chuck 2321 has a support portion 2321a that supports the container film F2 from below in the vertical direction, a clamping portion 2321b that clamps the container film F2 together with the support portion 2321a from above the container film F2 in the vertical direction, and a drive portion 2321c that drives the clamping portion 2321b in the vertical direction. The chuck feed 232 may clamp the entire width of the container film F2, or may clamp both ends of the container film F2 in the width direction. Alternatively, the chuck feed 232 may clamp only a portion of the container film F2 in the width direction.

[0020] Here, the operation of the chuck feed 232 will be described. First, when the forming device 12 clamps the raw material film F1 between the first mold 123 and the second mold 122, the fixed chuck 231 clamps the container film F2 as shown by the arrow AR21 in FIG. 3A. At this time, the chuck 2321 of the chuck feed 232 moves to the upstream side of the container film F2 as shown by the arrow AR22 in FIG. 3A. Next, before the forming device 12 separates the first mold 123 from the second mold 122, the chuck 2321 of the chuck feed 232 clamps the container film F2 as shown by the arrow AR23 in FIG. 3B. Next, the fixed chuck 231 releases the clamping of the container film F2 as shown by the arrow AR24 in FIG. 3B. After that, the chuck moving mechanism 2322 of the chuck feed 232 moves the chuck 2321 to the downstream side as shown by the arrow AR25 in FIG. 3C. As a result, the container film F2 is transported downstream, as indicated by the arrow AR1 in Fig. 3C. The fixed chuck 231 clamps the container film F2 again, and the chuck 2321 of the chuck feed 232 releases the clamping of the container film F2. The chuck movement mechanism 2322 then moves the chuck 2321 to the upstream side of the container film F2, i.e., in a direction approaching the fixed chuck 231. Thereafter, the chuck feed 232 repeats the series of operations described above, thereby intermittently transporting the container film F2 downstream.

[0021] The sliding guide 293 has a curved surface 293a that slides against the container film F2 and supports the container film F2 so that it can slide freely. At least a portion of the sliding guide 293 including the curved surface 293a is formed of a resin material such as polytetrafluoroethylene, polyethylene, polyacetal, or a metal such as stainless steel. In addition, from the viewpoint of suppressing deformation of the pocket Po1 of the container film F2, it is preferable that the radius of curvature of the curved surface 293a is longer than at least the length of the pocket Po1 in the conveying direction of the container film F2. It is more preferable that the radius of curvature is longer than the length of the container film F2 in the width direction. The tension application unit 291 applies tension to the container film F2 by contacting a portion between the sliding guide 293 and the tension adjustment unit 292 in the container film F2 stretched between the sliding guide 293 and the tension adjustment unit 292 and pressing it vertically downward. The tension applying unit 291 has a roller 2911 that contacts the container film F2, and a long arm 2912 to which the roller 2911 is rotatably attached at one end in the longitudinal direction. The tension applying unit 291 also has a support unit 2913 that supports the arm 2912 at the other end in the longitudinal direction of the arm 2912 so that one end of the arm 2912 can freely turn around the other end. The tension adjusting unit 292 has a roller 2921 around which the container film F2 is wound, and a powder clutch brake 2922 connected to the roller 2921 via a driven member shaft (not shown). The tension adjusting unit 292 adjusts the rotation torque of the roller 2921 by the powder clutch brake 2922 to adjust the tension applied to the container film F2 stretched between the roller 2921 and the roller 141 of the sealing device 14.

[0022] The appearance inspection device 13 is disposed upstream of the sealing device 14. The appearance inspection device 13 has an imaging unit 131 that images the container film F2, and a housing 132 that houses the imaging unit 131. The imaging unit 131 is a second imaging unit that transmits image information obtained by imaging the container film F2 with the work stored in the pocket to the control device 90. Here, a three-dimensional scanning device, a laser scanning device, or the like can be adopted as the imaging unit 131.

[0023] The cover film supply unit 15 supplies a band-shaped cover film F3. The cover film supply unit 15 includes a reel 151 around which the cover film F3 is wound, rollers 1521, 1522, and 1523 that guide the cover film F3 supplied from the reel 151 to the sealing device 14, a tension adjustment unit 153, and a position sensor 154. Examples of the cover film F3 include a metal film such as an aluminum film, and a composite film such as a gas barrier film. The tension adjustment unit 153 includes a roller 1531 around which the cover film F3 is wound, and a powder clutch brake 1532 connected to the roller 1531 via a driven member shaft (not shown). The tension adjustment unit 153 adjusts the rotation torque of the roller 1531 by the powder clutch brake 1532 to adjust the tension applied to the cover film F3 stretched between the roller 1531 and the roller 141 of the sealing device 14. The position sensor 154 detects the amount of positional deviation from a preset reference position in the transport direction of the cover film F3 by detecting a mark provided on the cover film F3. Then, the tension adjustment unit 153 adjusts the rotation torque of the roller 1531 based on the amount of positional deviation from the reference position detected by the position sensor 154 so as to reduce the amount of positional deviation from the reference position.

[0024] The sealing device 14 seals the pocket Po1 of the container film F2 by attaching the cover film F3 to the container film F2 in a state in which a workpiece is accommodated in the pocket Po1. The sealing device 14 has the above-mentioned conveying section 141, a heating section 143 that heats the cover film F3, and a pressing section 142 that presses the cover film F3 wound around the roller 141 against the roller 141. The sealing device 14 also has rollers 1441 and 1442 that guide the cover film F3 supplied from the cover film supply unit 15 to the heating section 143. The conveying section 141 has a cylindrical wheel 141a, a shaft 141b that supports the wheel 141a, and a driving section 141c that rotates and drives the shaft 141b. A plurality of recesses (not shown) that engage the pockets of the container film F2 are arranged side by side on the peripheral surface of the wheel 141a along the circumferential direction of the wheel 141a. Then, the driving unit 141c rotates the hole 141a in a state where the pockets of the container film F2 are hooked on some of the recesses of the wheel 141a. As a result, the packaging film F4, which is formed by attaching the cover film F3 to the container film F2, is continuously transported to the downstream side of the sealing device 14. The heating unit 143 has a heat transfer roller 143a around which the cover film F3 is wound, and heats the heat transfer roller 143a to heat the cover film F3. The heat transfer roller 143a is made of a metal with high thermal conductivity. Note that a roller without a heating function may be provided instead of the heating unit 143. The pressing unit 142 has a roller 1421 that is pressed against the container film F2 and the cover film F3 wound around the wheel 141a of the transport unit 141, and an arm 1422 that is long and has the roller 1421 rotatably attached to one end in the longitudinal direction. In addition, the pressing unit 142 has an arm driving unit 1423 that supports the arm 1422 at the other end in the longitudinal direction of the arm 1422 so that one end of the arm 1422 can freely rotate around the other end as a base point, and that urges the one end of the arm 1422 in a direction pressing it against the roller 1421.The sealing device 14 clamps the heated cover film F3 superimposed on the container film F2 between the wheel 141a and roller 1421 of the conveying section 141, thereby pressing the cover film F3 against the outer periphery of the pocket of the container film F2.

[0025] The appearance inspection device 16 has an imaging section 161 that images the packing film F4 and a housing 162 that accommodates the imaging section 161. The imaging section 161 transmits image information obtained by imaging the packing film F4 stretched between the rollers 241 and 242 to the control device 90. Here, the control device 90 judges the presence or absence of shape defects, dirt, foreign matter adhesion, the presence or absence of different types of mixture in the pockets, or the presence or absence of work in the pockets based on the image information acquired from the appearance inspection device 16. Then, the control device 90 outputs control information for selecting defective products of the packaging packs BP1 to the rotary suction 32 based on the judgment result. Here, a three-dimensional scanning device, a laser scanning device, or the like can be adopted as the imaging section 161.

[0026] The guide roller 251 has a wheel 251a and a shaft 251b that supports the wheel 251a. The wheel 251a has a plurality of recesses (not shown) arranged in parallel along its circumferential direction for holding pockets of the pack film F4. The tension applying unit 252 applies tension to the pack film F4 by contacting a portion of the pack film F4 stretched between the guide roller 251 and the roller 253 from above and pressing the portion vertically downward. The tension applying unit 252 has a roller 2521 that contacts the pack film F4 from above, and a long arm 2522 to which the roller 2521 is attached at one end in the longitudinal direction. The tension applying unit 252 also has a support unit 2523 that supports the arm 2522 at the other end in the longitudinal direction of the arm 2522 so that one end of the arm 2522 can freely rotate around the other end.

[0027] The slit forming and punching unit 17 includes a slit forming device 171, a punching device 173, and a driving section 172 to which the slit forming device 171 is fixed on the -Y direction side and the punching device 173 is fixed on the +Y direction side. As shown in FIG. 4, the slit forming device 171 includes a die unit 1712 disposed on the -Y direction side of the pack film F4 and a head 1714 disposed on the +Y direction side of the pack film F4. The head 1714 is provided with a cutter 1714a for generating slits in the pack film F4. As shown in FIG. 5A, the cutter 1714a is disposed opposite a plurality of (five in FIG. 5A) sites for generating slits in the pack film F4. Returning to FIG. 4, the head 1714 is connected to a guide rod 1716 and a power transmission arm 1717 extending from the driving section 172 in the -Y direction. Furthermore, the slit forming device 171 has a frame-shaped head support part 1713 that supports the head 1714 inside so as to be slidable in the Y-axis direction, and a main body part 1711 that is fixed to the drive part 172 and collectively supports the die unit 1712 and the head support part 1713. A heater (not shown) for heating the cutter 1714a is disposed in the head support part 1713.

[0028] The punching device 173 punches out the packing film F4 when the packing film F4, which is intermittently conveyed by the conveying section 281, stops. The punching device 173 has a die unit 1732 arranged on the +Y direction side of the packing film F4, and a head 1734 arranged on the -Y direction side of the packing film F4. The head 1734 is provided with a cutter 1734a for punching out the packaging packs BP1 from the packing film F4. The head 1734 is also connected to a guide rod 1736 and a power transmission arm 1737 extending from the driving section 172 in the +Y direction. The die unit 1732 has an opening 1732a for discharging the packaging packs BP1 punched out from the packing film F4 to the +Y direction side of the die unit 1732. The punching device 173 further has a main body 1731 fixed to the driving section 172 and supporting the die unit 1732. The drive unit 172 has a slit forming device drive unit 1721 that moves the power transmission arm 1717 along the Y-axis direction, a punching device drive unit 1722 that moves the power transmission arm 1737 along the Y-axis direction, and a housing 1723 that houses these.

[0029] The printing device 27 has a print head 272 that prints a preset mark on the pack film F4 when the pack film F4, which is intermittently transported by the transport unit 281, stops, and a die unit 273. The printing device 27 stamps a mark on the pack film F4 by pressing the print head 272 against the die unit 273 with a portion of the pack film F4 where the mark is to be formed being interposed between the print head 272 and the die unit 273. The printing device 27 also has a support unit 271 that supports the print head 272 and the die unit 273, a support unit drive unit 275 that moves the support unit 271 relative to the pack film F4, and a roller 276 that guides the pack film F4 between the print head 272 and the die unit 273. The position of the roller 276 is fixed. The support section drive section 275 changes the position of the mark printed by the print head 272 on the pack film F4 by moving the support section 271 in the transport direction or width direction of the pack film F4.

[0030] As shown in Fig. 5B, the film position changing unit 26 is a second film position changing unit having a guide roller 261 that guides the pack film F4 sent to the slit forming device 171, a roller support unit 263 that rotatably supports the guide roller 261, and a guide drive unit 264. The guide roller 261 is a first guide roller that has three wheels 261a and a shaft 261b that axially supports the three wheels 261a. The guide drive unit 264 moves the guide roller 261 via the roller support unit 263 in the width direction of the pack film F4, i.e., in the X-axis direction (see arrow AR12 in Fig. 5B) and in the direction along the transport direction of the pack film F4, i.e., in the Z-axis direction (see arrow AR11 in Fig. 5B). The guide driving unit 264 changes the position of the wheel 261a to a position shifted by the distance W1 in the +X direction, for example, as shown by the dotted line in Figure 5B, thereby changing the position of the pack film F4 in the X-axis direction in the slit forming device 171 to a position shifted by the distance W1 in the +X direction.

[0031] The transport unit 281 is a first transport unit having a film feed roller 2811 around which the pack film F4 is wound, and a roller drive unit 2812. As shown in FIG. 6, the film feed roller 2811 has a wheel 2811a and a shaft 2811b that axially supports the wheel 2811a. The wheel 2811a has a plurality of recesses 2811c that engage with the pockets Po1 of the pack film F4, which are arranged in parallel along the circumferential direction of the wheel 2811a. With the pockets of the pack film F4 engaged with some of the recesses of the film feed roller 2811, the transport unit 281 rotates the film feed roller 2811 to continuously transport the pack film F4 downstream. With the pocket Po1 of the packing film F4 hooked on some of the recesses 2811c of the wheel 2811a, the roller driving unit 2812 intermittently rotates the film feed roller 2811 in the direction indicated by the arrow AR4 in FIG. 6 by a preset rotation angle via the shaft 2811b. As a result, the packing film F4 is intermittently sent to the punching device 173 by a preset first reference distance. Here, the first reference distance is set to be equal to the length of a portion of the packing film F4 in the longitudinal direction that corresponds to one packaging pack. In addition, a film pressing unit 282 is disposed on the +Y direction side of the conveying unit 281 to prevent the packing film F4 from coming off the film feed roller 2811 during conveyance of the packing film F4. The film pressing unit 282 has a roller 2821 that contacts the pack film F4 wound around the film feed roller 2811 from the +Y direction side of the film feed roller 2811, and a long arm 2822 to one end in the longitudinal direction of which the roller 2821 is attached. The film pressing unit 282 also has an arm driver 2823 that rotatably supports the other end in the longitudinal direction of the arm 2822 and biases one end of the arm 2822 in a direction to press it against the roller 2821.

[0032] The film position changing section 283 is a first film position changing section having a film guide 2831 arranged downstream of the conveying section 281 to guide the pack film F4, and a guide driving section 2832 to drive the film guide 2831 along the width direction of the pack film F4, i.e., the X-axis direction. As shown in FIG. 7A, the film guide 2831 is a guide section having a guide body 2831a arranged to face one surface side in the thickness direction of the pack film F4 and having a groove 2831d formed on the surface on the pack film F4 side. The film guide 2831 also has an auxiliary plate 2831b arranged to face the other surface side in the thickness direction of the pack film F4, and a support member 2831c that collectively supports the guide body 2831a and the auxiliary plate 2831b. The guide driving section 2832 drives the film guide 2831 along the X-axis direction via the support member 2831c, as shown by the arrow AR5 in FIG. 7A, to change the position of the film guide 2831 in the X-axis direction. The guide driving unit 2832 changes the position of the film guide 2831 to a position shifted by the distance W2 in the +X direction, for example, as shown by the dotted line in Figure 7B, thereby changing the position of the pack film F4 in the X-axis direction in the punching device 173 to a position shifted by the distance W2 in the +X direction.

[0033] Returning to FIG. 1, the rotary suction 32 is a packaging pack holding device having a shaft 321 and four arms 322 each having a chuck unit 322a at one end fixed to the shaft 321 and at the other end for holding the packaging pack BP1. The chuck unit 322a may be a vacuum chuck, an electrostatic chuck, or the like. The rotary suction 32 also has a shaft drive unit 323 that rotates the shaft 321. The shaft drive unit 323 rotates the shaft 321 to position the chuck unit 322a at a receiving position for receiving the packaging pack BP1 from the punching device 173 and at an imaging position for imaging the packaging pack BP1 held by the chuck unit 322a by an imaging unit 311 of the appearance inspection device 31 described later. Moreover, the shaft driving unit 323 further rotates the shaft 321 to place the chuck unit 322a in a collection position for discharging a defective packaging pack BP1 held by the chuck unit 322a to the collection unit 34, and in a transfer position for transferring the packaging pack BP1 held by the chuck unit 322a to the pack conveying device 33. Here, based on control information input from the control device 90, the shaft driving unit 323 places the packaging pack BP1 determined to be defective in the collection position and then releases the holding by the chuck unit 322a, thereby discharging the packaging pack BP1 to the collection unit 34.

[0034] The appearance inspection device 31 has an imaging unit 311 and a housing 312 that houses the imaging unit 311. The imaging unit 311 is a first imaging unit that transmits image information obtained by imaging the packaging pack BP1 that is placed at the imaging position described above while being held by the chuck unit 322a of the rotary suction 32 to the control device 90. Here, a three-dimensional scanning device, a laser scanning device, or the like can be adopted as the imaging unit 311.

[0035] The pack conveying device 33 includes a belt conveyor 331 and a drive unit (not shown) that drives the belt conveyor 331.

[0036] As shown in Fig. 8, the control device 90 includes a CPU (Central Processing Unit) 901, a main memory unit 902, an auxiliary memory unit 903, an input interface 904, an output interface 905, and a bus 909 connecting the various units. The main memory unit 902 is a RAM (Random Access Memory) and is used as a working area for the CPU 901. The auxiliary memory unit 903 is composed of a non-volatile memory such as a semiconductor memory, and stores programs for implementing various functions of the control device 90. The input interface 904 is connected to the imaging unit 131 of the appearance inspection device 13, the imaging unit 161 of the appearance inspection device 16, and the imaging unit 311 of the appearance inspection device 31, and outputs image information transmitted from the imaging units 131, 161, and 311 to the CPU 901 via the bus 909. The output interface 905 is connected to the chuck feed 232, the roller drive unit 2812, the guide drive units 264, 2832 and the support unit drive unit 275, and outputs control signals to the chuck feed 232, the roller drive unit 2812, the guide drive units 264, 2832 and the support unit drive unit 275, respectively, for controlling their operation based on control information input from the CPU 901.

[0037] In the control device 90, the CPU 901 loads the programs stored in the auxiliary storage unit 903 into the main storage unit 902 and executes them, thereby functioning as a container film image acquisition unit 911, a packaging pack image acquisition unit 912, a container film pocket position calculation unit 913, a packaging pack pocket position calculation unit 914, a mark position calculation unit 915, a position deviation amount calculation unit 916, a judgment unit 917, a pocket forming position correction amount calculation unit 918, a punching position correction amount calculation unit 919, a slit position correction amount calculation unit 920, a mark position correction amount calculation unit 921, a chuck feed control unit 922, a conveyance control unit 923, a film guide position control unit 924, a print control unit 925, and a slit position control unit 926. Each functional unit realized in the control device 90 may be composed of a plurality of control devices. For example, the device may include two separate control devices: a control device that functions as a container film image acquisition unit 911, a packaging pack image acquisition unit 912, a container film pocket position calculation unit 913, a packaging pack pocket position calculation unit 914, a mark position calculation unit 915, a position deviation amount calculation unit 916, a determination unit 917, a pocket forming position correction amount calculation unit 918, a punching position correction amount calculation unit 919, a slit position correction amount calculation unit 920, and a mark position correction amount calculation unit 921, and a control device that functions as a chuck feed control unit 922, a conveyance control unit 923, a film guide position control unit 924, a print control unit 925, and a slit position control unit 926. The auxiliary storage unit 903 also includes a normal dimension storage unit 931 that stores normal dimension information indicating normal dimensions of each of the preset portions of the packaging pack BP1, and a determination criterion storage unit 932 that stores pass / fail determination criterion information that is a criterion for determining whether the packaging pack BP1 is a good product or a defective product. Furthermore, the judgment criterion storage unit 932 stores information indicating a correction execution threshold for each of the amount of positional deviation of the punching position by the punching device 173, the amount of positional deviation of the slit formation position by the slit forming device 171, the amount of positional deviation of the mark printed by the printing device 27, and the amount of positional deviation of the pocket forming position formed by the forming device 12. This correction execution threshold is used to judge whether or not to correct the punching position, the slit formation position, the mark position, or the pocket forming position, based on the magnitude of each amount of positional deviation.

[0038] The container film image acquisition unit 911 acquires, from the imaging unit 131, image information indicating a container film image obtained by imaging the container film F2 with the imaging unit 131 of the appearance inspection device 13. The packaging pack image acquisition unit 912 acquires, from the imaging unit 311, image information indicating a packaging pack image obtained by imaging the packaging pack BP1 held by the rotary suction 32 with the imaging unit 311 of the appearance inspection device 31.

[0039] The container film pocket position calculation unit 913 calculates a distance that reflects the relative position of the pocket Po1 with respect to the container film F2. Specifically, for multiple regions P1 arranged in parallel along the longitudinal direction of the container film F2, the container film pocket position calculation unit 913 calculates the shortest distance A5 between the peripheries of the pocket Po1 that is closest to the boundary portion BL1 between two adjacent regions P1, for example, as shown in Fig. 9. Here, each of the multiple regions P1 corresponds to a portion corresponding to one packaging pack BP1.

[0040] The packaging pack pocket position calculation unit 914 calculates a distance that reflects the relative position of the pocket Po1 with respect to the packaging pack BP1 and the slits SL1 and SL2 formed in the packaging pack BP1. Specifically, as shown in FIG. 10, for example, the packaging pack pocket position calculation unit 914 calculates the shortest distance A1 between one end of the packaging pack BP1 in the short direction and the periphery of the pocket Po1 closest to that end. The packaging pack pocket position calculation unit 914 also calculates the shortest distance A2 between the other end of the packaging pack BP1 in the short direction and the periphery of the pocket Po1 closest to that other end. The packaging pack pocket position calculation unit 914 also calculates the shortest distance a1 between one end of the packaging pack BP1 in the long direction and the periphery of the pocket Po1 closest to that one end. The packaging pack pocket position calculation unit 914 also calculates the shortest distance a2 between the other end of the packaging pack BP1 in the long direction and the periphery of the pocket Po1 closest to that other end. Here, the short side direction of the packaging pack BP1 corresponds to the longitudinal direction of the packing film F4, and the longitudinal direction of the packaging pack BP1 corresponds to the width direction of the packing film F4.

[0041] The packaging pack pocket position calculation unit 914 also calculates the shortest distance A3 between the slit SL1 formed along the longitudinal direction of the packaging pack BP1 and either of the peripheries of the pockets Po1 located on both sides of the slit SL1 in the transverse direction of the packaging pack BP1. The packaging pack pocket position calculation unit 914 also calculates either of the shortest distances a31, a32 between the periphery of the pocket Po1 closest to one end of the longitudinal direction of the packaging pack BP1 and the slits SL2 formed on both sides of the pocket Po1 in the longitudinal direction of the packaging pack BP1. The packaging pack pocket position calculation unit 914 also calculates the shortest distance a33 between the periphery of the pocket Po1 closest to the other end of the longitudinal direction of the packaging pack BP1 and the slit SL2 formed on the other side of the pocket Po1 in the longitudinal direction of the packaging pack BP1.

[0042] The mark position calculation unit 915 calculates a distance that reflects the relative position of the mark printed on the packaging pack BP1 with respect to the packaging pack BP1. For example, as shown in Fig. 10, the mark position calculation unit 915 calculates the shortest distances A41, A42 between the center of the mark MK1 in the short direction of the packaging pack BP1 and the periphery of each of the two pockets Po1. The mark position calculation unit 915 also calculates the shortest distance a4 between the center of the mark MK1 in the long direction of the packaging pack BP1 and one end of the packaging pack BP1 in the long direction.

[0043] The positional deviation amount calculation unit 916 calculates the amount of deviation of the punching position from the normal punching position and the amount of deviation of the slit position from the normal positions of the slits SL1 and SL2 based on the above-mentioned packaging pack image. The positional deviation amount calculation unit 916 also calculates the amount of deviation of the mark position of the mark MK1 based on the above-mentioned packaging pack image. Furthermore, the positional deviation amount calculation unit 916 calculates the amount of deviation of the pocket forming position of the pocket Po1 based on the above-mentioned container film image. Specifically, the positional deviation amount calculation unit 916 calculates the difference amount (A1-A2) obtained by subtracting the shortest distance A2 between the other end of the packaging pack BP1 in the short-side direction and the periphery of the pocket Po1 closest to that other end from the shortest distance A1 calculated by the above-mentioned packaging pack pocket position calculation unit 914 as the positional deviation amount ΔAc of the punching position in the conveying direction of the packing film F4.

[0044] The misalignment amount calculation unit 916 also acquires information indicating a normal dimension a1c of the shortest distance between one end of the packaging pack BP1 in the longitudinal direction and the periphery of the pocket Po1 closest to that end, and a normal dimension a2c of the shortest distance between the other end of the packaging pack BP1 in the longitudinal direction and the periphery of the pocket Po1 closest to that end, which are stored in the normal dimension storage unit 931. Then, the misalignment amount calculation unit 916 calculates the misalignment amount of the punching position in the width direction of the packing film F4 based on the relational expression of the following equation (1). Δac=(a1-a1c)-(a2-a2c)...Equation (1) Here, a1 indicates the shortest distance between one end of the packaging pack BP1 in the longitudinal direction and the periphery of the pocket Po1 closest to that end, calculated by the above-mentioned packaging pack pocket position calculation unit 914. Also, a2 indicates the shortest distance between the other end of the packaging pack BP1 in the longitudinal direction and the periphery of the pocket Po1 closest to that other end, calculated by the above-mentioned packaging pack pocket position calculation unit 914. Furthermore, Δac indicates the amount of positional deviation of the punching position in the width direction of the packing film F4.

[0045] The misalignment amount calculation unit 916 also acquires information indicating a normal dimension A3c of the shortest distance between a slit SL1 formed along the longitudinal direction of the packaging pack BP1 and one of the peripheral edges of the pockets Po1 located on either side of the slit SL1 in the lateral direction of the packaging pack BP1, which is stored in the normal dimension storage unit 931. The misalignment amount calculation unit 916 then calculates a difference (A3-A3c) obtained by subtracting the normal dimension A3c indicated by the acquired information from the shortest distance A3 calculated by the above-mentioned packaging pack pocket position calculation unit 914, as the misalignment amount ΔAs of the slit formation position in the width direction of the packing film F4.

[0046] Furthermore, the misalignment amount calculation unit 916 acquires information indicating a normal dimension a31c of the shortest distance between the periphery of the pocket Po1 closest to one end of the packaging pack BP1 in the longitudinal direction and either one of the slits SL2 formed on both sides of the pocket Po1 in the longitudinal direction of the packaging pack BP1, and a normal dimension a33c of the shortest distance between the periphery of the pocket Po1 closest to the other end of the packaging pack BP1 in the longitudinal direction and the slit SL2 formed on the other side of the pocket Po1 in the longitudinal direction of the packaging pack BP1, which are stored in the normal dimension storage unit 931. Then, the misalignment amount calculation unit 916 calculates the misalignment amount of the punching position in the width direction of the packing film F4 based on the relational expression of the following equation (2). Δas=(a31-a33)-(a31c-a33c)...Equation (2) Here, a31 indicates the shortest distance between the periphery of the pocket Po1 closest to one end in the longitudinal direction of the packaging pack BP1 calculated by the above-mentioned packaging pack pocket position calculation unit 914 and either one of the slits SL2 formed on either side of the pocket Po1 in the longitudinal direction of the packaging pack BP1. Also, a33 indicates the shortest distance between the periphery of the pocket Po1 and the slit SL2 calculated by the above-mentioned packaging pack pocket position calculation unit 914. Furthermore, Δas indicates the amount of positional deviation of the slit formation position in the width direction of the packing film F4.

[0047] Incidentally, due to thermal shrinkage of the packing film F4 in the width direction, the interval between adjacent pockets Po1 in the width direction of the packing film F4 may differ from the interval between the cutters 1714a of the slit forming device 171. In response to this, the misalignment amount calculation unit 916 calculates the misalignment amount using the relational expression (2) as described above, thereby making it possible to accurately calculate the misalignment amount in the width direction of the packing film F4.

[0048] The misalignment amount calculation unit 916 also acquires information indicating a normal dimension A3c of the shortest distance between a slit SL1 formed along the longitudinal direction of the packaging pack BP1 and one of the peripheral edges of the pockets Po1 located on either side of the slit SL1 in the transverse direction of the packaging pack BP1, which is stored in the normal dimension storage unit 931. The misalignment amount calculation unit 916 then calculates a difference (A3-A3c) obtained by subtracting the normal dimension A3c indicated by the acquired information from the shortest distance A3 calculated by the above-mentioned packaging pack pocket position calculation unit 914, as the misalignment amount ΔAs of the slit formation position in the transport direction of the packing film F4.

[0049] Furthermore, the misalignment amount calculation unit 916 acquires information indicating normal dimensions A41c, A42c of the shortest distance between the center of the mark MK1 in the short-side direction of the packaging pack BP1 and each of the peripheries of the two pockets Po1, which is stored in the normal dimension storage unit 931. Then, the misalignment amount calculation unit 916 calculates the misalignment amount of the mark MK1 in the transport direction of the pack film F4 based on the relational expression of the following equation (3). ΔAm=(a41-a42)-(a41c-a42c)...Equation (3) Here, A41 and A42 respectively indicate the shortest distance between the center of the mark MK1 and the periphery of each of the two pockets Po1 calculated by the above-mentioned mark position calculation unit 915. Also, Am indicates the amount of positional deviation of the mark MK1 in the transport direction of the pack film F4.

[0050] The misalignment amount calculation unit 916 also acquires information indicating a normal dimension a4c of the shortest distance between the center of the mark MK1 in the longitudinal direction of the packaging pack BP1 and one end of the packaging pack BP1 in the longitudinal direction, which is stored in the normal dimension storage unit 931. The misalignment amount calculation unit 916 then calculates a difference (a4-a4c) obtained by subtracting the normal dimension a4c indicated by the acquired information from the shortest distance a4 calculated by the above-mentioned mark position calculation unit 915, as the misalignment amount Δam of the mark MK1 in the width direction of the pack film F4.

[0051] Furthermore, the misalignment calculation unit 916 acquires information indicating a normal dimension A5c of the shortest distance between the peripheries of the pockets Po1 closest to the boundary portion BL1 between two adjacent regions P1 for the multiple regions P1 arranged in parallel along the longitudinal direction of the container film F2, which is stored in the normal dimension storage unit 931. The misalignment calculation unit 916 then calculates a difference (A5-A5c) obtained by subtracting the normal dimension A5c indicated by the acquired information from the shortest distance A5 calculated by the above-mentioned container film pocket position calculation unit 913 as the misalignment amount ΔAf of the pocket forming position in the conveyance direction of the container film F2.

[0052] The determination unit 917 acquires information indicating a correction execution threshold for each of the positional deviation amounts ΔAc, Δac of the punching position, the positional deviation amounts ΔAs, Δas of the slit forming position, the positional deviation amounts ΔAm, Δam of the mark position, and the positional deviation amount ΔAf of the pocket forming position, which is stored in the determination criterion storage unit 932. When any of the absolute values ​​of the positional deviation amounts ΔAc, Δac of the punching position, the positional deviation amounts ΔAs, Δas of the slit forming position, the positional deviation amounts ΔAm, Δam of the mark position, or the positional deviation amount ΔAf of the pocket forming position exceeds the correction execution threshold, the determination unit 917 determines that correction of the punching position, the slit forming position, the mark position, or the pocket forming position is necessary.

[0053] The determination unit 917 also acquires the above-mentioned pass / fail judgment criterion information stored in the judgment criterion storage unit 932. Then, the determination unit 917 judges the pass / fail of the portion of the packing film F4 corresponding to each packaging pack BP1 based on the pass / fail judgment criterion information and the image information of the packing film F4 acquired from the imaging unit 161 of the appearance inspection device 16. Then, the determination unit 917 outputs control information for selecting defective packaging packs BP1 to the rotary suction 32 based on the judgment result.

[0054] When the determination unit 917 determines that the positional deviation amounts ΔAc, Δac of the punching position exceed the correction execution threshold, the punching position correction amount calculation unit 919 calculates the punching position correction amount in the transport direction or width direction of the pack film F4 with respect to the punching position of the pack film F4. The punching position correction amount corresponds to the correction amount of the punching position in the direction in which the absolute values ​​of the positional deviation amounts ΔAc, Δac of the punching position decrease.

[0055] When the determination unit 917 determines that the misalignment amounts ΔAs and Δas of the slit formation position exceed the correction execution threshold, the slit position correction amount calculation unit 920 calculates the correction amount of the slit formation position in the transport direction or width direction of the pack film F4 relative to the slit formation position of the pack film F4. The slit formation position correction amount corresponds to the correction amount of the slit formation position in the direction in which the absolute values ​​of the misalignment amounts ΔAs and Δas of the slit formation position are reduced. In addition, when the rotation angle when the film feed roller 2811 is intermittently rotated by a preset rotation angle by the transport control unit 923 described later is changed, the slit position correction amount calculation unit 920 calculates the correction amount of the slit formation position in the transport direction of the pack film F4 associated with the change in the rotation angle. This slit formation position correction amount corresponds to the correction amount of the slit formation position in the direction in which the absolute value of the misalignment amount of the slit formation position in the transport direction of the pack film F4 associated with the change in the rotation angle described above is reduced.

[0056] When the determination unit 917 determines that the positional deviation amounts ΔAm and Δam of the mark position where the mark MK1 is formed on the pack film F4 exceed the correction execution threshold, the mark position correction amount calculation unit 921 calculates the mark position correction amount for the mark position. The mark position correction amount corresponds to the correction amount of the mark position in a direction in which the absolute values ​​of the positional deviation amounts ΔAm and Δam of the mark position are reduced. Furthermore, when the aforementioned rotation angle of the film feed roller 2811 is changed by the transport control unit 923 described later, the mark position correction amount calculation unit 921 calculates the mark position correction amount in the transport direction of the pack film F4 associated with the change in the rotation angle. This mark position correction amount corresponds to the correction amount of the mark position in a direction in which the absolute value of the positional deviation amount of the mark position in the transport direction of the pack film F4 is reduced associated with the change in the rotation angle.

[0057] A pocket forming position correction amount calculation unit 918 calculates a pocket forming position correction amount when the determination unit 917 determines that the positional deviation amount ΔAf of the pocket forming position in the container film F2 exceeds the correction execution threshold. The pocket forming position correction amount corresponds to the correction amount of the pocket forming position in the direction in which the absolute value of the positional deviation amount ΔAf of the pocket forming position decreases.

[0058] The conveyance control unit 923 functions as a rotation angle adjustment unit that adjusts the rotation angle when the conveyance unit 281 intermittently rotates the film feed roller 2811 by a preset rotation angle based on the punching position correction amount calculated by the punching position correction amount calculation unit 919. When the determination unit 917 determines that the absolute value of the positional deviation amount Δac of the punching position in the conveyance direction of the pack film F4 exceeds the correction execution threshold, the conveyance control unit 923 generates control information for adjusting the rotation angle described above and outputs it to the output interface 905. This control information is for adjusting the rotation angle described above so as to shift the punching position in the conveyance direction of the pack film F4 by the punching position correction amount calculated by the punching position correction amount calculation unit 919. Then, the output interface 905 generates a control signal corresponding to the control information for adjusting the rotation angle input from the conveyance control unit 923 and outputs it to the roller drive unit 2812.

[0059] The film guide position control unit 924 functions as a guide unit position adjustment unit that adjusts the position of the film guide 2831 based on the punching position correction amount calculated by the punching position correction amount calculation unit 919. When the determination unit 917 determines that the absolute value of the positional deviation amount ΔAc of the punching position in the width direction of the pack film F4 exceeds the correction execution threshold, the film guide position control unit 924 generates control information for adjusting the position of the film guide 2831 and outputs it to the output interface 905. This control information is for moving the film guide 2831 so as to shift the punching position in the width direction of the pack film F4 by the punching position correction amount calculated by the punching position correction amount calculation unit 919. Then, the output interface 905 generates a control signal corresponding to the control information for moving the film guide 2831 input from the film guide position control unit 924, and outputs it to the guide drive unit 2832.

[0060] The slit position control unit 926 functions as a guide roller position adjustment unit that adjusts the position of the guide roller 261 based on the slit formation position correction amount calculated by the slit position correction amount calculation unit 920. When the determination unit 917 determines that the absolute value of the positional deviation amount ΔAs of the slit formation position in the transport direction or width direction of the pack film F4 exceeds the correction execution threshold, the slit position control unit 926 generates control information for adjusting the position of the guide roller 261 and outputs it to the output interface 905. This control information is for moving the guide roller 261 so as to shift the slit formation position in the transport direction or width direction of the pack film F4 by the slit position correction amount calculated by the slit position correction amount calculation unit 920. Then, the output interface 905 generates a control signal corresponding to the control information for moving the guide roller 261 input from the slit position control unit 926 and outputs it to the guide drive unit 264. In addition, when the aforementioned rotation angle is changed by the conveying control unit 923, the slit position control unit 926 generates control information for moving the guide roller 261 by the slit position correction amount calculated by the aforementioned slit position correction amount calculation unit 920, and outputs the control information to the output interface 905.

[0061] The print control unit 925 functions as a print head position adjustment unit that adjusts the position of the print head 272 of the printer 27 based on the mark position correction amount calculated by the mark position correction amount calculation unit 921. When the determination unit 917 determines that the absolute values ​​of the positional deviation amounts ΔAm and Δam of the mark positions in the transport direction or width direction of the pack film F4 exceed the correction execution threshold, the print control unit 925 generates control information for adjusting the position of the print head 272 and outputs it to the output interface 905. This control information is for moving the print head 272 so as to shift the mark position in the transport direction or width direction of the pack film F4 by the mark position correction amount calculated by the mark position correction amount calculation unit 921. Then, the output interface 905 generates a control signal corresponding to the control information for moving the print head 272 input from the print control unit 925 and outputs it to the support unit drive unit 275 of the printer 27. Furthermore, when the aforementioned rotation angle is changed by the conveyance control unit 923, the slit position control unit 926 generates control information for adjusting the position of the guide roller 261 so as to reduce the amount of deviation of the punching position in the conveyance direction of the pack film F4 caused by the change in the aforementioned rotation angle, and outputs the control information to the output interface 905. Furthermore, when the aforementioned rotation angle is changed by the conveyance control unit 923, the print control unit 925 generates control information for moving the print head 272 by the mark position correction amount calculated by the aforementioned mark position correction amount calculation unit 921, and outputs the control information to the output interface 905.

[0062] The chuck feed control unit 922 functions as a feed amount adjustment unit that adjusts the second reference distance when the chuck feed 232 intermittently conveys the container film F2 downstream by a preset second reference distance based on the pocket forming position correction amount calculated by the pocket forming position correction amount calculation unit 918. When the determination unit 917 determines that the absolute value of the positional deviation amount ΔAf of the pocket forming position exceeds the correction execution threshold, the chuck feed control unit 922 generates control information for adjusting the second reference distance and outputs it to the output interface 905. This control information is for increasing or decreasing the second reference distance by the pocket forming position correction amount calculated by the pocket forming position correction amount calculation unit 918. Then, the output interface 905 generates a control signal corresponding to the control information for adjusting the second reference distance input from the chuck feed control unit 922 and outputs it to the chuck feed 232.

[0063] Next, the position correction process executed by the control device 90 according to the present embodiment will be described with reference to FIG. 11 and FIG. 12. This position correction process is started, for example, when the control device 90 is powered on. First, as shown in FIG. 11, the packaging pack image acquisition unit 912 judges whether or not image information indicating a packaging pack image has been acquired from the imaging unit 311 of the appearance inspection device 31 (step S101). If the packaging pack image acquisition unit 912 judges that image information has not been acquired (step S101: No), the process of step S122 described later is executed. On the other hand, it is assumed that the packaging pack image acquisition unit 912 judges that image information has been acquired (step S101: Yes). In this case, the packaging pack pocket position calculation unit 914 calculates a distance reflecting the relative position of the pocket Po1 with respect to the packaging pack BP1 based on the packaging pack image (step S102). Here, the packaging pack pocket position calculation unit 914 calculates the shortest distances A1, A2, a1, and a2 between the end of the packaging pack BP1 and the periphery of the pocket Po1 described above.

[0064] Next, the packaging pack pocket position calculation unit 914 calculates a distance reflecting the relative position of the pocket Po1 with respect to the slits SL1, SL2 formed in the packaging pack BP1 based on the packaging pack image (step S103). Here, the packaging pack pocket position calculation unit 914 calculates the shortest distances A1, A2, a1, a2 between the slits SL1, SL2 formed in the packaging pack BP1 and the periphery of the pocket Po1.

[0065] Next, the mark position calculation unit 915 calculates a distance that reflects the relative position of the mark printed on the packaging pack BP1 with respect to the packaging pack BP1 based on the packaging pack image (step S104). Here, the mark position calculation unit 915 calculates the shortest distances A41, A42 between the center of the mark MK1 and the periphery of the pocket Po1, and the shortest distance a4 between the center of the mark MK1 and the edge of the packaging pack BP1.

[0066] Thereafter, the positional deviation calculation unit 916 calculates the positional deviation amounts ΔAc, Δac of the punching positions described above from the distance that reflects the calculated relative position of the pocket Po1 with respect to the packaging pack BP1 (step S105).

[0067] Next, the determination unit 917 determines whether or not the punching position needs to be corrected based on the positional deviation amounts ΔAc and Δac of the punching position (step S106). Here, the determination unit 917 determines that the punching position needs to be corrected when at least one of the absolute values ​​|ΔAc| and |Δac| of the positional deviation amounts ΔAc and Δac of the punching position exceeds the above-mentioned correction execution threshold. When the determination unit 917 determines that the punching position does not need to be corrected (step S106: No), the process of step S114 described below is executed.

[0068] On the other hand, it is assumed that the determination unit 917 determines that the punching position needs to be corrected (step S106: Yes). In this case, the punching position correction amount calculation unit 919 determines whether the absolute value |ΔAc| of the positional deviation amount ΔAc of the punching position in the transport direction of the pack film F4 exceeds the correction execution threshold ΔActh (step S107). If the punching position correction amount calculation unit 919 determines that the absolute value |ΔAc| of the positional deviation amount ΔAc of the punching position in the transport direction of the pack film F4 is equal to or smaller than the correction execution threshold ΔActh (step S107: No), it executes the process of step S111 described later. On the other hand, if the punching position correction amount calculation unit 919 determines that the absolute value |ΔAc| of the positional deviation amount ΔAc of the punching position in the transport direction of the pack film F4 exceeds the correction execution threshold ΔActh (step S107: Yes), it calculates the punching position correction amount in the transport direction of the pack film F4 (step S108). Next, the slit position correction amount calculation unit 920 calculates the slit formation position correction amount in the transport direction of the pack film F4 due to the change in the rotation angle of the transport section 281, and the mark position correction amount calculation unit 921 calculates the mark position correction amount in the transport direction of the pack film F4 due to the change in the rotation angle of the transport section 281 (step S109).

[0069] Thereafter, the conveyance control unit 923 generates control information for adjusting the rotation angle of the conveyance unit 281 based on the punching position correction amount in the conveyance direction of the pack film F4 calculated by the punching position correction amount calculation unit 919, and outputs the control information to the output interface 905 (step S110). At this time, the slit position control unit 926 generates control information for moving the guide roller 261 by the slit position correction amount calculated by the slit position correction amount calculation unit 920, and outputs the control information to the output interface 905. In addition, the printing control unit 925 generates control information for moving the print head 272 by the mark position correction amount calculated by the mark position correction amount calculation unit 921, and outputs the control information to the output interface 905.

[0070] Next, the punching position correction amount calculation unit 919 judges whether the absolute value |Δac| of the positional deviation amount Δac of the punching position in the width direction of the pack film F4 exceeds the correction execution threshold Δacth (step S111). If the punching position correction amount calculation unit 919 judges that the absolute value |Δac| of the positional deviation amount ΔAc of the punching position in the width direction of the pack film F4 is equal to or smaller than the correction execution threshold ΔActh (step S111: No), the process of step S114 described below is executed. On the other hand, if the punching position correction amount calculation unit 919 judges that the absolute value |Δac| of the positional deviation amount Δac of the punching position in the width direction of the pack film F4 exceeds the correction execution threshold Δacth (step S111: Yes), it calculates the punching position correction amount in the width direction of the pack film F4 (step S112). Next, the film guide position control unit 924 generates control information for adjusting the position of the film guide 2831 based on the punching position correction amount in the width direction of the pack film F4 calculated by the punching position correction amount calculation unit 919, and outputs the control information to the output interface 905 (step S113).

[0071] Thereafter, the positional deviation amount calculation unit 916 calculates the positional deviation amounts ΔAs, Δas of the slit formation positions described above from the distance reflecting the calculated relative positions of the pocket Po1 with respect to the slits SL1, SL2 (step S114).

[0072] Next, the determination unit 917 determines whether or not the slit formation position needs to be corrected based on the positional deviation amounts ΔAs and Δas of the slit formation position, as shown in Fig. 12 (step S115). Here, the determination unit 917 determines that the slit formation position needs to be corrected if either of the absolute values ​​of the positional deviation amounts ΔAs and Δas of the slit formation position exceeds the above-mentioned correction execution threshold. If the determination unit 917 determines that the slit formation position does not need to be corrected (step S115: No), the process of step S118 described below is executed.

[0073] On the other hand, suppose that the determination unit 917 determines that the slit formation position needs to be corrected (step S115: Yes). In this case, the slit position correction amount calculation unit 920 calculates the amount of correction of the slit formation position in the transport direction or width direction of the pack film F4 relative to the slit formation position of the pack film F4 (step S116). Next, the slit position control unit 926 generates control information for adjusting the position of the guide roller 261 based on the amount of correction of the slit formation position calculated by the slit position correction amount calculation unit 920, and outputs the control information to the output interface 905 (step S117).

[0074] Thereafter, the positional deviation calculation unit 916 calculates the mark positional deviation amount of the mark MK1 described above based on the packaging package image (step S118).

[0075] Next, the determination unit 917 determines whether or not the mark position needs to be corrected based on the positional deviation amounts ΔAm and Δam of the mark MK1 as shown in Fig. 12 (step S119). Here, the determination unit 917 determines that the slit formation position needs to be corrected when at least one of the absolute values ​​|ΔAm| and |Δam| of the positional deviation amounts ΔAm and Δam of the mark position exceeds the above-mentioned correction execution threshold. When the determination unit 917 determines that the slit formation position does not need to be corrected (step S119: No), the process of step S122 described later is executed.

[0076] On the other hand, it is assumed that the determination unit 917 determines that the mark position needs to be corrected (step S119: Yes). In this case, the mark position correction amount calculation unit 921 calculates the mark position correction amount in the transport direction and width direction of the pack film F4 relative to the mark position (step S120). Next, the print control unit 925 generates control information for adjusting the position of the print head 272 based on the mark position correction amount calculated by the mark position correction amount calculation unit 921, and outputs the control information to the output interface 905 (step S121).

[0077] Thereafter, the container film image acquisition unit 911 judges whether or not image information indicating a container film image has been acquired from the imaging unit 131 of the appearance inspection device 13 (step S122). If the container film image acquisition unit 911 judges that image information has not been acquired (step S122: No), the process of step S101 is executed again. On the other hand, it is assumed that the container film image acquisition unit 911 judges that image information has been acquired (step S101: Yes). In this case, the positional deviation amount calculation unit 916 calculates the positional deviation amount ΔAf of the pocket forming position in the conveying direction of the above-mentioned container film F2 (step S123).

[0078] Next, the determination unit 917 determines whether or not the pocket forming position needs to be corrected based on the positional deviation ΔAf of the pocket forming position in the container film F2 (step S124). Here, the determination unit 917 determines that the pocket forming position needs to be corrected when the absolute value |ΔAf| of the positional deviation ΔAf of the pocket forming position exceeds the above-mentioned correction execution threshold. When the determination unit 917 determines that the pocket forming position does not need to be corrected (step S124: No), the process of step S101 is executed again.

[0079] On the other hand, it is assumed that the determination unit 917 determines that the pocket forming position needs to be corrected (step S124: Yes). In this case, the pocket forming position correction amount calculation unit 918 calculates the pocket forming position correction amount (step S125). Next, the chuck feed control unit 922 generates control information for adjusting the second reference distance when the chuck feed 232 intermittently conveys the container film F2 downstream by a second reference distance set in advance, based on the pocket forming position correction amount calculated by the pocket forming position correction amount calculation unit 918, and outputs the control information to the output interface 905 (step S126). After that, the process of step S101 is executed again.

[0080] As described above, according to the packaging machine 1 of this embodiment, the film position change unit 283 has a film guide 2831 that guides the packing film F4, and changes the position of the film guide 2831 in the width direction of the packing film F4, i.e., in the X-axis direction, to change the position of the packing film F4 in the width direction in the punching device 173. Then, the punching position correction amount calculation unit 919 calculates the punching position correction amount for the punching position of the packing film F4 from the above-mentioned pocket position deviation amount. In addition, the film guide position control unit 924 adjusts the position of the film guide 2831 based on the punching position correction amount. This makes it possible to correct the punching position in the width direction of the packing film F4 without providing a drive mechanism for moving the entire punching device 173 in the width direction of the packing film F4. Therefore, since there is no need to provide a drive mechanism for moving the entire punching device 173 in the width direction of the packing film F4, the packaging machine 1 can be made smaller in size. In addition, quality control of the packaging packs BP1 produced by the packaging machine 1 becomes easier, which has the advantage of improving the quality of the packaging packs BP1 and reducing the number of people required in the process of producing the packaging packs BP1.

[0081] However, due to variations in the shrinkage performance of the packing film F4 and variations in the mechanical performance of the packaging machine 1, the relative position of the packing film F4 in the transport direction or the width direction may be shifted. In this case, there is a risk that a large number of defective packaging packs BP1 will be produced, or malfunctions will occur in the sealing device 14, the slit forming device 171, the printing device 27, or the punching device 173. In contrast, in the packaging machine 1 according to the present embodiment, the feeding amount of the container film F2 and the packing film F4 in the sealing device 14, the slit forming device 171, the printing device 27, or the punching device 173 is made constant based on image information obtained by imaging the packaging pack BP1 and image information obtained by imaging the container film F2. Therefore, it is possible to reduce defective packaging packs BP1 caused by misalignment in the transport direction or width direction of the packing film F4, and to suppress malfunctions in the sealing device 14, the slit forming device 171, the printing device 27, or the punching device 173.

[0082] According to the packaging machine 1 of the present embodiment, the film position change unit 26 changes the position of the packing film F4 in the slit forming device 171 by moving the guide roller 261 in the transport direction or width direction of the packing film F4. The position deviation amount calculation unit 916 calculates the slit position deviation amount of the slits SL1 and SL2 based on the packaging pack image, and the slit position correction amount calculation unit 920 calculates the slit position correction amount for the slit positions at which the slits SL1 and SL2 are formed. The guide driving unit 264 adjusts the position of the guide roller 261 based on the calculated slit position correction amount. This makes it possible to correct the slit position in the transport direction or width direction of the packing film F4 without providing a driving mechanism for moving the entire slit forming device 171 in the transport direction or width direction of the packing film F4. Therefore, since there is no need to provide a driving mechanism for moving the entire slit forming device 171 in the transport direction or width direction of the packing film F4, the packaging machine 1 can be made smaller.

[0083] Furthermore, in the packaging machine 1 according to this embodiment, the positional deviation amount calculation unit 916 calculates the mark position deviation amount of the mark MK1 based on the packaging pack image, and the mark position correction amount calculation unit 921 calculates the mark position correction amount for the mark position from the calculated mark position deviation amount. Then, the print control unit 925 adjusts the position of the print head 272 of the printer 27 based on the calculated mark position correction amount. This makes it possible to suppress the occurrence of positional deviation of the mark MK1 in a configuration in which the mark MK1 is printed on the pack film F4 in the packaging machine 1.

[0084] Furthermore, when the aforementioned rotation angle of the conveying unit 281 is changed by the conveying control unit 923, the film position changing unit 26 according to this embodiment generates and outputs control information for adjusting the position of the guide roller 261 so as to reduce the amount of misalignment of the slit formation position in the conveying direction of the pack film F4 that occurs due to the change in the rotation angle. Furthermore, when the rotation angle of the conveying unit 281 is changed as described above, the print control unit 925 generates and outputs control information for adjusting the position of the print head 272 so as to reduce the amount of misalignment of the mark position in the conveying direction of the pack film F4 that occurs due to the change in the rotation angle. This makes it possible to suppress the occurrence of misalignment of the slit formation position and the mark position in the conveying direction of the pack film F4 that occurs due to the change in the rotation angle when the rotation angle of the conveying unit 281 is changed as described above.

[0085] Furthermore, the packaging machine 1 according to the present embodiment includes an imaging unit 131 arranged upstream of the sealing device 14 to image the container film F2, and a chuck feed 232 arranged downstream of the forming device 12 to pinch the container film F2 in the thickness direction and intermittently convey the container film F2 downstream by a second reference distance. A position deviation amount calculation unit 916 calculates a pocket forming position deviation amount of the pocket forming position based on the container film image of the container film F2 imaged by the imaging unit 131, and a pocket forming position correction amount calculation unit 918 calculates a pocket forming position correction amount from the pocket forming position deviation amount. Then, a chuck feed control unit 922 adjusts the second reference distance based on the pocket forming position correction amount. This makes it possible to suppress the occurrence of a position deviation in the conveying direction of the container film F2 at the pocket forming position.

[0086] The packaging machine 1 according to this embodiment also includes the rotary suction 32 described above. This allows smooth processing from receiving the packaging pack BP1 from the punching device 173 to capturing an image of the packaging pack BP1 by the imaging unit 311 of the appearance inspection device 31. This makes it possible to improve the manufacturing efficiency of the packaging pack BP1.

[0087] Although the embodiment of the present invention has been described above, the present invention is not limited to the configuration of the above-mentioned embodiment. For example, as shown in FIG. 13, assume that the packaging pack BP2 has two slits SL21, SL22 formed along its longitudinal direction. In this case, the packaging pack pocket position calculation unit 914 may calculate the shortest distances A61, A62 between the two slits SL21, SL22 in the short-side direction of the packaging pack BP2 and the periphery of the pocket Po1. In this case, the positional deviation calculation unit 916 acquires information indicating the regular dimensions A61c, A62c of the shortest distances between the two slits SL21, SL22 in the short-side direction of the packaging pack BP1 and the periphery of the pocket Po1, which is stored in the regular dimension storage unit 931. Then, the positional deviation calculation unit 916 may calculate the positional deviation of the slit formation position in the transport direction of the packing film F4 based on the relational expression of the following formula (4). ΔAs=(A61-A62)-(A61c-A62c) Formula (4) Here, A61 and A62 respectively indicate the shortest distances between the two slits SL21 and SL22 in the short-side direction of the packaging pack BP2 and the periphery of the pocket Po1 calculated by the above-mentioned packaging pack pocket position calculation unit 914. Also, As indicates the amount of positional deviation of the formation positions of the two slits SL21 and SL22 in the transport direction of the packing film F4.

[0088] In an embodiment, the packaging pack pocket position calculation unit 914 may calculate a distance B1 between one end of the packaging pack BP1 in the short direction and the center of the pocket Po1 closest to that end, and a distance B2 between the other end of the packaging pack BP1 in the short direction and the center of the pocket Po1 closest to that end, as shown in Fig. 14. The packaging pack pocket position calculation unit 914 may also calculate a distance b1 between one end of the packaging pack BP1 in the long direction and the center of the pocket Po1 closest to that end, and a distance b2 between the other end of the packaging pack BP1 in the long direction and the center of the pocket Po1 closest to that end.

[0089] In the embodiment, the packaging pack pocket position calculation unit 914 may calculate a distance B3 between a slit SL1 formed along the longitudinal direction of the packaging pack BP1 and the center of one of the pockets Po1 located on both sides of the slit SL1 in the transverse direction of the packaging pack BP1. The packaging pack pocket position calculation unit 914 may calculate distances b31 and b32 between the center of the pocket Po1 closest to one end of the longitudinal direction of the packaging pack BP1 and the slits SL2 formed on both sides of the pocket Po1 in the longitudinal direction of the packaging pack BP1. Furthermore, the packaging pack pocket position calculation unit 914 may calculate a distance b33 between the center of the pocket Po1 closest to the other end of the longitudinal direction of the packaging pack BP1 and the slit SL2 formed on the other side of the pocket Po1 in the longitudinal direction of the packaging pack BP1.

[0090] Furthermore, in an embodiment, the mark position calculation unit 915 may calculate distances B41, B42 between the center of the mark MK1 in the short side direction of the packaging pack BP1 and the center of each of the two pockets Po1, as shown in, for example, FIG.

[0091] In the embodiment, an example has been described in which the misalignment amount calculation unit 916 acquires information indicating the normal dimensions a31c, a33c of the shortest distance between the periphery of the pocket Po1 and the slit SL2 stored in the normal dimension storage unit 931, and calculates the misalignment amount of the punching position in the width direction of the packing film F4 based on the relational expression of the above-mentioned formula (2). However, this is not limiting, and for example, the misalignment amount calculation unit 916 may acquire information indicating the normal dimension a31c (a32c, a33c) of the shortest distance between the periphery of the pocket Po1 and the slit SL2 stored in the normal dimension storage unit 931, and calculate the difference amount obtained by subtracting the normal dimension a31c (a32c, a33c) from the shortest distance a31 (a32, a33) between the periphery of the pocket Po1 and the slit SL2 calculated from the packaging pack image as the misalignment amount of the punching position in the width direction of the packing film F4.

[0092] Alternatively, the misalignment calculation unit 916 acquires information stored in the normal dimension memory unit 931 indicating the normal dimensions a31c, a32c of the shortest distance between the periphery of the pocket Po1 in the longitudinal direction of the packaging pack BP1 and the slits SL2 formed on both sides of the pocket Po1 in the longitudinal direction of the packaging pack BP1, and calculates the misalignment amount of the punching position in the width direction of the pack film F4 based on the relational equation (5) below. Δas=(a31-a32)-(a31c-a32c)...Equation (5) Here, a31 and a32 indicate the shortest distances between the periphery of the pocket Po1 calculated by the above-mentioned packaging pack pocket position calculation unit 914 and the slits SL2 formed on both sides of the pocket Po1 in the longitudinal direction of the packaging pack BP1 (see FIG. 10). Also, Δas indicates the amount of misalignment of the slit formation position in the width direction of the packing film F4.

[0093] In the embodiment, an example has been described in which the printing device 27 presses the print head 272 against the die unit 273 while the pack film F4 is interposed between the print head 272 and the die unit 273 to stamp a mark on the pack film F4. However, the configuration of the printing device 27 is not limited to this, and may be, for example, a laser marker device. Furthermore, if it is not necessary to provide a mark on the packaging pack BP1, the printing device 27 may be omitted. In this case, the control device 90 may be configured to omit the mark position calculation unit 915, the mark position correction amount calculation unit 921, and the print control unit 925.

[0094] In the embodiment, an example has been described in which the second reference distance when the chuck feed 232 intermittently conveys the container film F2 downstream by a preset second reference distance is adjusted based on the pocket forming position correction amount calculated by the pocket forming position correction amount calculation unit 918. However, the present invention is not limited to this, and for example, the control device 90 may be configured to control the powder clutch brake 2922 of the tension adjustment unit 292 based on the pocket forming position correction amount calculated by the pocket forming position correction amount calculation unit 918 to adjust the rotation torque of the roller 2921.

[0095] In the embodiment, the packaging machine may further include an edge sensor 20031 arranged downstream of the forming device 12 and a film position changing unit 21155 arranged upstream of the heating device 29, as shown in Fig. 15A. Here, the edge sensor 20031 includes two pairs of a laser source 20031a and a light receiving unit 20031b arranged opposite both ends in the width direction of the container film F2, and detects the positions of both ends in the width direction of the container film F2. Specifically, when the laser light emitted from the laser source 2031a is blocked by one of the ends of the container film F2 and does not reach the light receiving unit 20031b, the edge sensor 20031 outputs an identification signal of the light receiving unit 20031b that did not receive the laser light to the control device. In addition, the edge sensor may be equipped with a single laser source and a light receiving unit arranged opposite only one end of the container film F2 in the width direction, and detect the position of the one end of the container film F2 in the width direction.

[0096] 15B, the film position changing unit 21155 is a third film position changing unit having a guide roller 21155a that guides the raw film F1 sent to the forming device 12, a roller support unit 21155b that rotatably supports the guide roller 21155a, and a guide drive unit 21155e. The guide roller 21155a is a second guide roller having a cylindrical roller body 21155d and two disk-shaped guide units 21155c disposed at both ends of the roller body 21155d in the cylindrical axis direction. The guide drive unit 21155e moves the guide roller 21155a in the width direction of the raw film F1, i.e., in the X-axis direction (see arrow AR201 in FIG. 15B) via the roller support unit 21155b. The guide driving unit 21155e changes the position of the raw film F1 in the forming device 12 in the X-axis direction to a position shifted in the +X direction by shifting the position of the guide roller 21155a in the +X direction, for example, as shown by the dotted line in Figure 15B.

[0097] The control device according to this modification has the same configuration as the control device 90 described in the first embodiment, and in addition to the functions of the control device 90, has a raw material film position correction amount calculation unit and a roller position adjustment unit. The raw material film position correction amount calculation unit calculates the raw material film position correction amount in the width direction of the raw material film F1 based on the positions of both ends of the container film F2 detected by the edge sensor 20031. Specifically, when the raw material film position correction amount calculation unit receives an identification signal of the light receiving unit 20031b that did not receive the laser light from the edge sensor 20031, it calculates the raw material film position correction amount for shifting the raw material film from the light receiving unit 20031b corresponding to the identification signal toward the other light receiving unit 20031b by a distance equivalent to 1 / 2 of the difference between the distance between the two light receiving units 20031b and the width of the raw material film F1.

[0098] The roller position adjustment unit is a second guide roller position adjustment unit that adjusts the position of the guide roller 21155a based on the raw film position correction amount. The roller position adjustment unit generates control information for adjusting the position of the guide roller 21155a and outputs it to the output interface of the control device. The output interface then generates a control signal corresponding to the control information input from the roller position adjustment unit and outputs it to the guide drive 21155e.

[0099] According to this configuration, there is no need to manually adjust the position of the raw material film F1 in the width direction, which reduces the number of workers required in the process of producing the packaging pack BP1.

[0100] In the embodiment, the cover film F3 may have an adhesive area AA31 that is adhered to the container film F2, and a non-adhesive area AA32 that is disposed at a position facing the pocket Po1 in the container film F2 and is not adhered to the container film F2, as shown in Fig. 16A. Then, the position deviation amount calculation unit 916 may calculate a non-adhesive area position deviation amount A301 of the non-adhesive area AA32 relative to the position of the pocket Po1, as shown in Fig. 16B, based on the packaging pack image captured by the imaging unit 311 of the appearance inspection device 31. In this case, the pocket molding position correction amount calculation unit 918 may calculate the pocket molding position correction amount from the non-adhesive area position deviation amount A301.

[0101] According to this configuration, when the cover film F3 has an adhesive area AA31 and a non-adhesive area AA32, the deviation between the position of the pocket Po1 and the position of the non-adhesive area AA32 can be reduced, thereby reducing the incidence of defective appearance of the packaging pack BP1.

[0102] In the embodiment, an example in which the packaging machine 1 includes the fixed chuck 231 has been described, but the present invention is not limited to this, and the packaging machine 1 may have a configuration without the fixed chuck 231.

[0103] In the embodiment, an example in which the packaging machine 1 includes the appearance inspection device 16 has been described, but the present invention is not limited to this, and the appearance inspection device 16 may be omitted. In this case, for example, the appearance inspection device 31 may serve the role of the appearance inspection device 16. Also, in the embodiment, an example has been described in which the imaging unit 311 of the appearance inspection device 31 images the packaging pack BP1 placed at the above-mentioned imaging position while being held by the chuck unit 322a of the rotary suction 32. However, the present invention is not limited to this, and for example, the imaging unit 311 of the appearance inspection device 31 may image the packaging pack BP1 placed on the belt conveyor 331 of the pack conveying device 33.

[0104] In an embodiment, the transport control unit 923 may generate control information for adjusting the rotation angle of the film feed roller 2811 so as to make the positional deviation Δac of the punching position in the transport direction of the pack film F4 zero each time, unless the positional deviation Δac is zero, and output the control information to the output interface 905. Alternatively, the transport control unit 923 may observe a trend of the positional deviation Δac of the punching position in the transport direction of the pack film F4 during a preset period, and generate control information for adjusting the rotation angle based on the average or maximum value of the observed positional deviation Δac, and output the control information to the output interface 905.

[0105] In an embodiment, the film guide position control unit 924 may generate control information for adjusting the position of the film guide 2831 so as to make the positional deviation ΔAc of the punching position in the width direction of the pack film F4 zero each time, unless the positional deviation ΔAc of the punching position in the width direction of the pack film F4 is zero, and output the control information to the output interface 905. Alternatively, the film guide position control unit 924 may observe a trend of the positional deviation ΔAc of the punching position in the width direction of the pack film F4 during a preset period, and generate control information for adjusting the position of the film guide 2831 based on the average or maximum value of the observed positional deviation ΔAc, and output the control information to the output interface 905.

[0106] In an embodiment, the slit position control unit 926 may generate control information for adjusting the position of the guide roller 261 so as to make the misalignment amounts ΔAs, Δas of the slit formation position in the transport direction or width direction of the pack film F4 zero each time, unless the misalignment amounts ΔAs, Δas are zero, and output the control information to the output interface 905. Alternatively, the slit position control unit 926 may observe trends in the misalignment amounts ΔAs, Δas of the slit formation position in the transport direction or width direction of the pack film F4 during a preset period, and generate control information for adjusting the position of the guide roller 261 based on the average or maximum value of the observed misalignment amounts ΔAs, Δas, and output the control information to the output interface 905.

[0107] In an embodiment, the print control unit 925 may generate control information for adjusting the position of the print head 272 so as to make the misalignment amounts ΔAm, Δam of the mark positions in the transport direction or width direction of the pack film F4 zero each time, unless the misalignment amounts ΔAm, Δam are zero, and output the control information to the output interface 905. Alternatively, the print control unit 925 may observe trends in the misalignment amounts ΔAm, Δam of the mark positions in the transport direction or width direction of the pack film F4 during a preset period, and generate control information for adjusting the position of the print head 272 based on the average or maximum value of the observed misalignment amounts ΔAm, Δam, and output the control information to the output interface 905.

[0108] In an embodiment, the chuck feed control unit 922 may generate control information for adjusting the second reference distance, which is the feed amount of the chuck feed 232, so as to make the positional deviation amount ΔAf zero each time, unless the positional deviation amount ΔAf of the pocket forming position is zero, and output the control information to the output interface 905. Alternatively, the chuck feed control unit 922 may observe a trend of the positional deviation amount ΔAf of the pocket forming position during a preset period, and generate control information for adjusting the above-mentioned second reference distance based on the average value or maximum value of the observed positional deviation amount ΔAf, and output the control information to the output interface 905.

[0109] In the embodiment, an example in which the control device 90 is installed inside the packaging machine main body 50 has been described, but the present invention is not limited to this, and the control device 90 may be arranged outside the packaging machine main body 50.

[0110] In the embodiment, an example has been described in which the film position changing unit 283 changes the position of the pack film F4 in the X-axis direction in the punching device 173. However, this is not limiting, and for example, the conveying unit 281 may have a roller drive unit (not shown) that changes the position of the pack film F4 in the X-axis direction by moving the film feed roller 2811 in the X-axis direction of the pack film F4, and the conveying unit 281 may function as the film position changing unit. Then, in the printing device 27, when the pack film F4 is shifted in the X-axis direction in the conveying unit 281, the position of the print head 272 may be moved in the X-axis direction accordingly.

[0111] According to this configuration, by omitting the film position changing unit 283, the number of parts can be reduced, and therefore the packaging machine 1 can be simplified and made smaller.

[0112] In the embodiment, when characters or marks are printed on the cover film F3, the control device 90 may calculate the amount of relative positional deviation of the cover film F3 with respect to the container film F2 based on an image of the packaging pack BP1 captured by the appearance inspection device 31. In this case, the control device 90 may calculate the amount of positional deviation of the cover film F3 with respect to the container film F2 based on, for example, the distance between the characters or marks printed on the cover film F3 and the edge of the packaging pack BP1. Then, the control device 90 may adjust the reference position of the cover film F3 used by the position sensor 154 based on the calculated amount of positional deviation of the cover film F3 with respect to the container film F2.

[0113] In the embodiment, the rotary suction 32 may have a chuck unit 4033 as shown in, for example, FIG. 17A and FIG. 17B. The chuck unit 4033 is detachably fixed to each of the four arms 322 of the rotary suction 32. The chuck unit 4033 has a plurality of suction heads 4333 (six in FIG. 17B), a suction pad 4332 made of an elastic material and attached to the tip of each of the plurality of suction heads 4333, and a head support part 4331 having a rectangular box shape, which supports the plurality of suction heads 4333 collectively and is detachably attached to the arm 322. A tube 4333a that is maintained in a reduced pressure state when the packaging pack BP1 is suctioned is provided inside the suction head 4333. In addition, a tube 4331a that communicates with each of the tubes 4333a is provided inside the head support part 4331. Furthermore, a plurality of windows 4331b are provided on the side wall of the head support part 4331. This can improve the workability of an operator who replaces the suction pad 4332, and can reduce the weight of the head support part 4331. A hole (not shown) is provided on the -Z direction side of the support part 4331, into which a prismatic fixing pin (not shown) protruding from the arm 322 in the +Z direction is inserted. The head support part 4331 is fixed to the arm 322 by inserting the fixing pin of the arm 322 into the hole. When the chuck unit 4033 is fixed to the arm 322, the pipe 4331a communicates with an exhaust pipe 322b provided on the arm 322 and connected to a vacuum pump (not shown). At least a part of the suction pad 4332, the suction head 4333, and the support part 4331 is made of, for example, resin. In this case, at least a part of the suction pad 4332, the suction head 4333, and the head support part 4331 may be manufactured using, for example, a 3D printer.

[0114] Incidentally, the packaging pack BP1 may be delivered to the rotary suction 32 in a warped (curved) state. In this case, the image of the target portion of the packaging pack BP1 may become unclear due to the focus of the imaging unit 311 in the appearance inspection device 31, and it may become difficult to accurately recognize marks on the packaging pack BP1 or to accurately inspect the presence or absence of foreign matter or dirt on the packaging pack BP1. Furthermore, when measuring the length of the packaging pack BP1 using the image captured by the appearance inspection device 31, if the entire packaging pack BP1 is warped, the length of the packaging pack BP1 cannot be detected accurately.

[0115] In contrast, the chuck unit 4033 according to this modification holds the packaging pack BP1 in a state where it is sucked onto a plurality of suction pads 4332, as shown in Fig. 17A. This allows the packaging pack BP1 to be flattened before being imaged by the imaging unit 311, thereby improving the clarity of the captured image obtained by imaging by the imaging unit 311. This improves the accuracy of the recognition of marks provided on the packaging pack BP1 by the appearance inspection device 31 or the inspection of the presence or absence of foreign matter or dirt adhering to the packaging pack BP1. Furthermore, when the length of the packaging pack BP1 is measured using the captured image captured by the appearance inspection device 31, the length of the packaging pack BP1 can be detected with high accuracy.

[0116] The present invention allows various embodiments and modifications without departing from the broad spirit and scope of the present invention. The above-described embodiments are for the purpose of explaining the present invention and do not limit the scope of the present invention. In other words, the scope of the present invention is indicated by the claims, not the embodiments. Various modifications made within the scope of the claims and within the scope of the meaning of the invention equivalent thereto are considered to be within the scope of the present invention.

[0117] This application is based on Japanese Patent Application No. 2019-100953 filed on May 30, 2019. The entire specification, claims and drawings of Japanese Patent Application No. 2019-100953 are incorporated herein by reference. [Industrial Applicability]

[0118] The present invention is suitable for producing pack films for packaging tablets, medical devices, and the like. [Explanation of symbols]

[0119] 1: packaging machine, 11: raw film supply unit, 12: forming device, 13, 16, 31: appearance inspection device, 14: sealing device, 15: cover film supply unit, 17: slit forming and punching unit, 26, 283: film position change unit, 27: printing device, 29: heating device, 32: rotary suction, 33: pack conveying device, 34: recovery unit, 40: stage, 50: packaging machine body, 90: control device, 111, 112, 151: reel, 113: automatic film bonding device, 1 16: film holding mechanism, 117: buffer section, 121: device body, 122: second mold, 122a: plug, 123: first mold, 123a: recess, 124, 125, 172, 231c, 2321c: drive section, 131, 161, 311: imaging section, 132, 162, 312, 1723: housing, 141, 1154: conveying section, 142: pressing section, 143: heating section, 143a: heat transfer roller, 153, 292: tension adjustment section, 154: position sensor, 171: slit forming device, 173: punching device, 231: fixed chuck, 231a, 271, 1173, 2321a, 2523: support part, 231b, 2321b: clamping part, 232: chuck feed, 241, 242, 253, 276, 1151, 1152, 1153, 1154a, 1155, 1161, 1163, 1171, 1421, 1441, 1442, 1521, 1522, 1523, 1531, 2521, 2821, 2911: roller, 141a, 251a, 261a, 2811a: wheel, 141b, 25 1b, 261b, 2811b: shaft, 251, 261: guide roller, 252, 291: tension applying unit, 281: conveying unit, 263: roller support unit, 264: guide driving unit, 272: print head, 273, 1712, 1732: die unit, 275: support unit driving unit, 282: film pressing unit, 288: hopper, 289: work supply device, 293: sliding guide, 293a: curved surface, 321: shaft unit, 322, 1162, 1172, 1422, 2522, 2822: arm, 322a,4033: chuck unit, 322b: exhaust pipe, 323: shaft drive unit, 331: belt conveyor, 901: CPU, 902: main memory unit, 903: auxiliary memory unit, 904: input interface, 905: output interface, 909: bus, 911: container film image acquisition unit, 912: packaging pack image acquisition unit, 913: container film pocket position calculation unit, 914: packaging pack pocket position calculation unit, 915: mark position calculation unit, 916: position deviation amount calculation unit, 917: judgment unit, 918: pocket forming position correction amount calculation unit, 91 9: punching position correction amount calculation unit, 920: slit position correction amount calculation unit, 921: mark position correction amount calculation unit, 922: chuck feed control unit, 923: transport control unit, 924: film guide position control unit, 925: print control unit, 926: slit position control unit, 931: normal dimension memory unit, 932: judgment criterion memory unit, 1141, 1142: holding mechanism, 1141a, 1142a, 2321: chuck, 1423: arm drive unit, 1154b, 2812: roller drive unit, 1532, 2922: powder clutch brake, 1711, 1731: main body, 1713: head support, 1714, 1734: head, 1714a, 1734a: cutter, 1716, 1736: guide rod, 1717, 1737: power transmission arm, 1721: slit forming device drive, 1722: punching device drive, 1732a: opening, 2322: chuck movement mechanism, 2811: film feed roller, 2811c: recess, 2831: film guide, 2931a: guide body, 2831b: auxiliary plate, 2831c: support member, 2831d: groove, 2832: guide drive, 29 01, 2902: heat transfer plate, 2903, 2904: drive unit, 4331: head support, 4331a, 4333a: tube, 4332: suction pad, 4333: suction head, A1, A2, A3, A5, A41, A42, A61, A62, a1, a2, a4, a31, a32, a33: shortest distance, AA32: non-bonding area, B1, B2, B3, B41, B42, b1, b2, b31, b32, b33, W1, W2: distance, BL1: boundary portion, BP1, BP2: packaging pack, ΔAc, ΔAf, ΔAm, ΔAs, Δac, Δam,Δas: positional deviation, F1: raw material film, F2: container film, F3: cover film, F4: pack film, F5: scrap, MK1: mark, P1: area, Po1: pocket, SL1, SL2, SL21, SL22: slits.

Claims

[Claim 1] A packaging machine for manufacturing a packaging pack by punching a strip-shaped pack film formed by a container film having a pocket for accommodating a workpiece and a cover film attached to the container film so as to close the pocket, the packaging machine comprising: a first conveying unit having a film feed roller around which the pack film is wound, the first conveying unit intermittently rotating the film feed roller by a preset rotation angle to intermittently feed out the pack film by a preset first reference distance; a punching device that punches out the pack film when the pack film intermittently conveyed by the first conveying section stops; a first film position changing unit that is disposed downstream of the first transport unit and has a guide unit that guides the pack film, and changes a position of the guide unit in the width direction of the pack film to change a position of the pack film in the width direction in the punching device; a first imaging unit that images the packaging pack punched by the punching device; a positional deviation amount calculation unit that calculates a positional deviation amount of a punching position of the pack film by the punching device based on a packaging pack image of the packaging pack captured by the first imaging unit; a punching position correction amount calculation unit that calculates a punching position correction amount for the punching position based on the positional deviation amount of the punching position; a rotation angle adjustment unit that adjusts the rotation angle based on the punching position correction amount; a guide portion position adjustment portion that adjusts a position of the guide portion based on the punching position correction amount, The first film position changing unit is a film guide for guiding the pack film, the film guide comprising: a guide body disposed opposite one surface side of the pack film in the thickness direction, the guide body having a groove formed on the surface facing the pack film for guiding the pocket of the pack film; and an auxiliary plate disposed opposite the other surface side of the pack film in the thickness direction; a guide drive unit that drives the film guide along the width direction of the pack film, The groove extends along the transport direction from one end to the other end of the guide body in the transport direction of the pack film. packaging machine.

Images